Electrocatalytic nanobubble synergized with biomimetic brush for hull barnacle removal robot

Abstract

The utility model discloses a ship body barnacle removing robot of electric catalysis nanometer bubble cooperation biomimicry brush, including robot casing, the waterproof cylinder is fixedly installed in the robot casing, the telescopic end of waterproof cylinder is fixedly connected with disc, is equipped with the installation cavity in the disc, the inner wall of installation cavity is rotatably connected with biomimicry brush round block, the lower end surface of disc is equipped with round mouth, the lower end of biomimicry brush round block penetrates round mouth, a plurality of biomimicry brush hair are arranged on the lower end surface of biomimicry brush round block, the utility model discloses a nanometer bubble is generated to electric catalysis nanometer bubble generating module, and the adhesion structure of barnacle is softened, and its adhesion is reduced, and then the physical removal is carried out to the cooperation rotating biomimicry brush hair, and the cooperation of both significantly improves the removal efficiency, and the biomimicry brush hair is made of silica gel, and is soft and has elasticity, can remove barnacle while avoiding scratch or corrosion to ship body coating or metal surface, prolongs the ship body life.

Description

Technical Field

[0001] This utility model relates to the field of barnacle removal technology on ship hulls, and more specifically, to a barnacle removal robot for ship hulls using an electrocatalytic nanobubble synergistic biomimetic brush. Background Technology

[0002] During long voyages, ships are highly susceptible to fouling and adhesion from marine organisms, with barnacles being one of the most common and difficult to remove. Barnacles adhere firmly to the hull coating by secreting highly adhesive proteins, forming a hard calcareous shell. This not only significantly increases surface roughness, leading to increased drag and fuel consumption, but also accelerates corrosion of the hull's metal structure, severely impacting operational efficiency and service life. Therefore, regular hull cleaning to remove marine fouling organisms, including barnacles, is a crucial maintenance measure for ensuring ship performance and reducing operating costs.

[0003] Most existing underwater cleaning robots use rotating brush heads or high-pressure water jets for physical removal. However, for firmly attached organisms like barnacles, simple physical removal requires applying considerable force, which can easily damage the antifouling coating on the hull. Utility Model Content

[0004] This invention addresses the technical problems existing in the prior art by providing a ship hull barnacle removal robot with electrocatalytic nanobubbles and a biomimetic brush. It solves the problem that many existing underwater cleaning robots rely on rotating brush heads or high-pressure water jets for physical removal. However, for firmly attached organisms like barnacles, simple physical removal requires significant force, which can easily damage the antifouling coating on the hull.

[0005] To achieve the above objectives, this utility model provides a barnacle removal robot for ship hulls using electrocatalytic nanobubbles in conjunction with a biomimetic brush. The robot includes a shell, in which a waterproof cylinder is fixedly installed. A disc is fixedly connected to the telescopic end of the waterproof cylinder. An installation cavity is formed in the disc, and a biomimetic brush block is rotatably connected to the inner wall of the installation cavity. A circular opening is formed on the lower end face of the disc, through which the lower end of the biomimetic brush block passes. Multiple biomimetic bristles, made of silicone, are arranged on the lower end face of the disc. An electrocatalytic nanobubble generating module is also provided on the lower end face of the disc. This module includes at least one pair of electrodes, which are electrically connected to a high-frequency pulse power supply located inside the robot shell. A rotating component is provided in the installation cavity, which drives the biomimetic brush block and bristles to rotate. A magnetic adsorption walking mechanism is provided on the robot shell for crawling and adsorbing on the ship hull surface.

[0006] Preferably, the rotating assembly includes a waterproof geared motor fixedly installed on the inner wall of the mounting cavity. The output end of the waterproof geared motor is fixedly connected to a rotating rod. A gear is fixedly sleeved on the rotating rod. The gear meshes with a gear ring. The gear ring is fixedly sleeved on the bionic brush block.

[0007] Preferably, the magnetic adsorption walking mechanism includes four walking wheels symmetrically arranged on the robot housing, and two corresponding walking wheels are fitted with walking tracks, which are composed of magnetic blocks.

[0008] Preferably, a mounting plate is fixedly connected to the robot shell, and a waterproof camera is installed on the mounting plate.

[0009] Preferably, the robot housing is equipped with a navigation and positioning module and a communication module.

[0010] Preferably, the robot housing has multiple limiting telescopic rods symmetrically fixedly connected, and the telescopic end of each limiting telescopic rod is fixedly connected to the upper surface of the disc.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: Nanobubbles are generated by an electrocatalytic nanobubble generator module to soften the barnacle's attachment structure and reduce its adhesion. Combined with rotating bionic bristles for physical removal, the two work synergistically to significantly improve removal efficiency. The bionic bristles are made of silicone, which is soft and elastic, and can remove barnacles without scratching or corroding the hull coating or metal surface, thus extending the hull's lifespan. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the waterproof cylinder and disc in this utility model; Figure 3 This is a schematic diagram of the rotating component in this utility model; Figure 4 This is a schematic diagram of the electrocatalytic nanobubble generating module in this utility model.

[0013] The meanings of the labels in the diagram are as follows: 1. Robot shell; 2. Waterproof cylinder; 3. Disc; 4. Bionic brush block; 401. Bionic brush bristles; 5. Electrocatalytic nanobubble generating module; 6. Rotating component; 601. Waterproof geared motor; 602. Rotating rod; 603. Gear; 604. Gear ring; 7. Limiting telescopic rod; 8. Magnetic adsorption walking mechanism; 801. Walking wheel; 802. Walking track; 9. Mounting plate; 901. Waterproof camera; 10. Navigation and positioning module; 11. Communication module. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] Please see Figures 1-4 This embodiment provides a barnacle removal robot for a ship's hull using electrocatalytic nanobubbles in conjunction with a biomimetic brush. The robot includes a shell 1, in which a waterproof cylinder 2 is fixedly installed. A disc 3 is fixedly connected to the telescopic end of the waterproof cylinder 2. An installation cavity is formed in the disc 3, and a biomimetic brush block 4 is rotatably connected to the inner wall of the installation cavity. A circular opening is formed on the lower end face of the disc 3, through which the lower end of the biomimetic brush block 4 passes. Multiple biomimetic bristles 401, made of silicone, are provided on the lower end face of the biomimetic brush block 4. An electrocatalytic nanobubble generating module 5 is also provided on the lower end face of the disc 3, and the electrocatalytic nanobubble generating module 5 includes at least one pair of electrodes. The electrode is electrically connected to a high-frequency pulse power supply located inside the robot housing 1. The mounting cavity is equipped with a rotating component 6, which drives the bionic brush block 4 and the bionic brush bristles 401 to rotate. The rotating component 6 includes a waterproof geared motor 601 fixedly mounted on the inner wall of the mounting cavity. The output end of the waterproof geared motor 601 is fixedly connected to a rotating rod 602. A gear 603 is fixedly sleeved on the rotating rod 602. The gear 603 meshes with a toothed ring 604, which is fixedly sleeved on the bionic brush block 4. The robot housing 1 is equipped with a magnetic adsorption walking mechanism 8, which is used for the robot housing 1 to crawl and adsorb on the surface of the ship.

[0016] In summary, the improvement of this embodiment lies in: Nanobubbles are generated by the electrocatalytic nanobubble generating module 5 to soften the attachment structure of barnacles and reduce their adhesion. Combined with the rotating bionic bristles 401 for physical removal, the two work together to significantly improve the removal efficiency. The bionic bristles 401 are made of silicone, which is soft and elastic. They can remove barnacles without scratching or corroding the hull coating or metal surface, thus extending the life of the hull.

[0017] Based on the above, other structures also need to be disclosed in detail, such as: Please see Figure 1 and Figure 2The magnetic adsorption walking mechanism 8 includes four walking wheels 801 symmetrically arranged on the robot housing 1. A walking track 802 is fitted on two corresponding walking wheels 801. The walking track 802 is composed of magnetic blocks. The walking track 802 composed of magnetic blocks provides a strong adsorption force, enabling the robot to crawl stably on vertical or even inverted ship surfaces.

[0018] Please see Figure 1 and Figure 2 A mounting plate 9 is fixedly connected to the robot shell 1. A waterproof camera 901 is installed on the mounting plate 9. The waterproof camera 901 provides real-time images to assist the operator in accurate positioning and status monitoring.

[0019] Please see Figure 1 The robot housing 1 is equipped with a navigation and positioning module 10 of model TDK InvenSense ICM-20948 and a communication module 11 of model Develotic HAM-Node. The navigation and positioning module 10 and the communication module 11 receive instructions and guide the robot to the barnacle attachment area.

[0020] Please see Figure 2 Multiple limiting telescopic rods 7 are symmetrically fixedly connected in the robot housing 1. The telescopic end of each limiting telescopic rod 7 is fixedly connected to the upper surface of the disc 3. The limiting telescopic rods 7 ensure the smoothness and precision of the pressing process.

[0021] In summary, the working principle of this solution is as follows: The robot is firmly attached to the hull surface via its magnetic adsorption walking mechanism 8. The walking tracks 802, composed of magnetic blocks, provide strong adhesion, enabling the robot to crawl stably on vertical or even inverted hull surfaces. The navigation and positioning module 10 and communication module 11 receive commands and guide the robot to the barnacle attachment area. A waterproof camera 901 provides real-time video feeds to assist the operator in precise positioning and status monitoring. Once the robot reaches the work site, the electrocatalytic nanobubble generating module 5... First, the electrode pair integrated on the lower end face of disk 3 is driven by a high-frequency pulse power supply to electrocatalytically electrolyze the surrounding water, generating a large number of micron / nano-sized bubbles. These bubbles are characterized by their small size, large specific surface area, and long surface life, enabling them to quickly penetrate and accumulate at the adhesion interface between the bottom of the barnacle and the hull coating. The nanobubbles at the interface create a "cushion" effect, physically expanding and weakening the adhesion of the barnacle. Under a high-frequency electric field, the collapse of the nanobubbles (cavitation effect) generates microjets and local high pressure, impacting the adhesion. The electrocatalytic process changes the chemical environment at the interface, further decomposing the sticky substances secreted by the barnacle, thereby significantly reducing its adhesion. After the electrocatalytic module has been working for a period of time and the barnacle attachment structure has been sufficiently softened, the mechanical cleaning system begins to work in conjunction. The waterproof cylinder 2 actuates, its telescopic end extends downward, driving the entire disc 3 and the bionic brush block 4 and bionic bristles 401 below it to move towards the hull surface until the bionic bristles 401 are fully in contact with the barnacle surface. The limiting telescopic rod 7 ensures the smoothness and precision of the downward pressing process. At the same time, the rotating component 6 starts working, the waterproof geared motor 601 starts, and through the meshing transmission of gear 603 and gear ring 604, it drives the bionic brush block 4 and the bionic bristles 401 on it. Rotating at a constant speed, the biomimetic brush 401, made of silicone, combines flexibility with sufficient cleaning power. During rotation, it can gently and thoroughly scrape away barnacles softened by nanobubbles from the hull surface, while avoiding damage to the antifouling paint or metal substrate caused by hard bristles. Throughout the cleaning process, the generation of electrocatalytic nanobubbles and the rotation and scrubbing of the biomimetic brush 401 can occur simultaneously or alternately, forming a synergistic enhancement effect. The nanobubbles "open the way" at the front end to soften the barnacles, and the biomimetic brush follows closely to remove them. The two work together to achieve a highly efficient and non-destructive operation mode of "softening first and then removing". The removed dirt is washed away by the water flow, and the robot then moves to the next work point under the drive of the magnetic adsorption walking mechanism, repeating the above process until the cleaning task of the entire designated area of ​​the hull is completed.

[0022] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A barnacle-removing robot for ship hulls using electrocatalytic nanobubbles in conjunction with a biomimetic brush, comprising a robot shell (1), characterized in that: A waterproof cylinder (2) is fixedly installed in the robot housing (1). A disc (3) is fixedly connected to the telescopic end of the waterproof cylinder (2). An installation cavity is provided in the disc (3). A bionic brush block (4) is rotatably connected to the inner wall of the installation cavity. A circular opening is provided on the lower end face of the disc (3). The lower end of the bionic brush block (4) passes through the circular opening. Multiple bionic bristles (401) are provided on the lower end face of the bionic brush block (4). The bionic bristles (401) are made of silicone. An electrocatalytic nanobubble generating module (5) is provided on the upper part. The electrocatalytic nanobubble generating module (5) includes at least one pair of electrodes. The electrodes are electrically connected to a high-frequency pulse power supply located inside the robot housing (1). The mounting cavity is provided with a rotating component (6). The rotating component (6) drives the bionic brush block (4) and bionic brush bristles (401) to rotate. The robot housing (1) is provided with a magnetic adsorption walking mechanism (8). The magnetic adsorption walking mechanism (8) is used for the robot housing (1) to crawl and adsorb on the surface of the ship.

2. The barnacle removal robot for ship hulls with electrocatalytic nanobubbles synergistic with a biomimetic brush according to claim 1, characterized in that: The rotating assembly (6) includes a waterproof geared motor (601) fixedly installed on the inner wall of the mounting cavity. The output end of the waterproof geared motor (601) is fixedly connected to a rotating rod (602). The rotating rod (602) is fixedly sleeved with a gear (603). The gear (603) meshes with a toothed ring (604). The toothed ring (604) is fixedly sleeved on the bionic brush block (4).

3. The barnacle removal robot for ship hulls with electrocatalytic nanobubbles and a biomimetic brush as described in claim 1, characterized in that: The magnetic adsorption walking mechanism (8) includes four walking wheels (801) symmetrically arranged on the robot housing (1), and two corresponding walking wheels (801) are fitted with walking tracks (802), which are composed of magnetic blocks.

4. The barnacle removal robot for ship hulls with electrocatalytic nanobubbles synergistic with a biomimetic brush according to claim 1, characterized in that: A mounting plate (9) is fixedly connected to the robot housing (1), and a waterproof camera (901) is installed on the mounting plate (9).

5. The barnacle removal robot for ship hulls with electrocatalytic nanobubbles and a biomimetic brush as described in claim 1, characterized in that: The robot housing (1) is equipped with a navigation and positioning module (10) and a communication module (11).

6. The barnacle removal robot for ship hulls with electrocatalytic nanobubbles and a biomimetic brush as described in claim 1, characterized in that: Multiple limiting telescopic rods (7) are symmetrically fixedly connected in the robot housing (1), and the telescopic end of each limiting telescopic rod (7) is fixedly connected to the upper surface of the disc (3).

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